WO2009069154A1 - Dispositif permettant d'assurer et/ou d'exécuter des tâches sur des objets - Google Patents

Dispositif permettant d'assurer et/ou d'exécuter des tâches sur des objets Download PDF

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Publication number
WO2009069154A1
WO2009069154A1 PCT/IT2007/000821 IT2007000821W WO2009069154A1 WO 2009069154 A1 WO2009069154 A1 WO 2009069154A1 IT 2007000821 W IT2007000821 W IT 2007000821W WO 2009069154 A1 WO2009069154 A1 WO 2009069154A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
electric motor
linear electric
along
moving
Prior art date
Application number
PCT/IT2007/000821
Other languages
English (en)
Inventor
Paolo Mignano
Fabio Immovilli
Original Assignee
Mechatronic System Company S.R.L.
Motor Power Company S.R.L.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mechatronic System Company S.R.L., Motor Power Company S.R.L. filed Critical Mechatronic System Company S.R.L.
Priority to PCT/IT2007/000821 priority Critical patent/WO2009069154A1/fr
Publication of WO2009069154A1 publication Critical patent/WO2009069154A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
    • B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q2210/00—Machine tools incorporating a specific component
    • B23Q2210/006—Curved guiding rails

Definitions

  • the invention relates to a device for handling and/or performing work operations on objects.
  • the invention is applicable in the industrial sector in movement systems of small-mass objects weighing a few kilograms, and for which fast and precise movement is required.
  • the invention is applicable in systems for gathering and positioning products, known as "pick and place” systems, in lines of packaging or assembly of products, in machines for separating and/or sorting products or in object handling systems.
  • the present invention can be used in the medical field for moving and handling surgical instruments, or in the field of mechanical working for moving tools such as millers, drill bits, pliers or the like, or for the movement and training of precision instruments in general, such as for example lasers.
  • Robot arms composed of a plurality of hinged link mechanisms, which at an end thereof bear a tool, such as pliers, a sucker or a work instrument.
  • a tool such as pliers, a sucker or a work instrument.
  • the object located on a horizontal plane or on a conveyor belt is gathered and moved, parallel to the work plane or with its orientation changed with respect to the plane, to be deposited internally of a special housing or a second conveyor belt.
  • Robot architectures developed in the prior art are essentially of two types: arms of the traditional type (generally anthropomorphic) or robots having parallel kinematics mechanisms.
  • Parallel kinematics machines obviate the above-described dynamic limitation by concentrating all the actuators in the robot zone which remains fixed, transferring the movement to the object via a complex mechanical structure of mechanical links, often comprising more than one arm, which is however light and rigid.
  • the aim of the present invention is to obviate the drawbacks encountered in the solutions of the prior art.
  • the aim of the present invention is to realise a device for handling and/or performing work operation on objects which combine the work volumes characteristic of anthropomorphic structures with the high- level dynamics and precision of parallel kinematics machines.
  • an aim of the present invention is to realise a device for handling and/or the performance of work operations on objects which enables a reduction in the masses in motion, in particular in the zone closest to the object, enabling performance-giving dynamics, a decidedly large work volume and an extremely simple control structure.
  • Another aim of the present invention is to realise a device for handling and/or performing work operations on objects provided with a simplified kinematic structure, being without supplementary mechanical organs such as reducers, screw systems, systems for conversion of motion from circular to straight etc., thus leading to a reduction in costs, greater system reliability, better control of force and torque and extremely simplified control algorithms.
  • figure 1 is a perspective view of a device for handling and/or performing work operations on objects, according to the present invention
  • figure 2 is a lateral view of the device of figure 1
  • figure 3 is a lateral view of a variant of the device for handling and/or performing work operations on objects, in agreement with the present invention.
  • the device 1 denotes a device for handling and/or performing work operations on objects in accordance with the present invention
  • the device 1 comprises at least a first arm 2 exhibiting a first end 2a, which first end 2a bears a tool 3.
  • the tool 3 is advantageously associated to the first end 2a of the arm 2 by means of a hinged connection, preferably jointed, which enables the tool 3 to make a circular and curved movement in all direction in a space defined about the first end 2a of the arm 2.
  • the tool 3 can advantageously be a gripping instrument, such as pliers or a sucker, or a work tool, such as a drill, a miller, a laser or any other type of mechanical or precision instrument, according to needs.
  • the device 1 further comprises means for supporting and moving 4 the first arm 2.
  • the first arm 2 is slidingly mobile at least along a direction X, preferably a straight direction, and at least along a circular trajectory ⁇ .
  • the means for supporting and moving 4 comprise at least a first linear electric motor 5, directly connected to the first arm 2, to promote the translation of the arm 2 along the direction X.
  • the means for supporting and moving 4 further comprise at least a second linear electric motor 6, developing in a close path P.
  • the second linear electric motor 6 is preferably curved and for this reason develops on a circular course lying on a transversal plane to a longitudinal axis 2c of the first arm 2.
  • the second linear electric motor 6 is preferably associated to the first linear electric motor 5, and in particular supports it.
  • the first linear electric motor 5 advantageously extends internally of the structure of the curved second linear electric motor 6, preferably in a diameter position.
  • the second linear electric motor 6 sets the first arm 2 in rotation about a preferably circular path ⁇ . By selectively or contemporaneously activating the two linear electric motors 5 and 6, different movements of the first arm 2 can be obtained.
  • the first arm 2 can perform only straight translations along direction X.
  • the arm is subject exclusively to a rotating movement, describing circular trajectories which are more or less large according to the position of the first arm 2 with respect to the first linear electric motor 6.
  • the arm 2 By combining the translational movement along the straight direction X with rotation along the circular trajectory ⁇ , the arm 2 is mobile along a plurality of circular trajectories which are concentric with the axis 6a of rotation of the second linear electric motor 6.
  • the first linear electric motor 5 is preferably a bilateral electric motor, of the type known as ironless.
  • the motor 5 comprises a stator, defined by a straight guide 7 composed of two facing tracks of permanent magnets.
  • the moving element is defined by a cursor 8, containing the coil, and it is arranged slidably between the two tracks of the straight guide 7.
  • the flow generated by the permanent magnets is almost totally in line with the spirals of the coils.
  • the ferromagnetic nucleus is absent, making the motor light.
  • the first arm 2 is associated to the cursor 8.
  • the arm 2 according to the position of the cursor 8 along the guide 7 of the first linear electric motor 5, the arm 2, as previously demonstrated, describes larger or smaller circular trajectories about the axis of rotation 6a of the second linear motor 6.
  • the second linear electric motor 6 can be singly or doubly fed.
  • the second linear electric motor is singly-fed, and the rotor 9 comprises a plurality of permanent magnets 9a defining a ring, while the stator 10 is identified by at least a block, internally of each of which there is at least a coil 10a.
  • the coils 10a are applied on the rotor
  • the stator 10 is concentric to the rotor 9.
  • the first arm 2 can also be axially mobile along a direction Z which is parallel to the longitudinal axis 2c thereof.
  • the translation is cause by a third linear electric motor 11, directly acting on the first arm 2.
  • the device 1 further comprises a second arm 12, cooperating with the first arm 2, for moving the tool 3.
  • the second arm 12 also preferably arranged in a parallel position to the first arm 2, is connected to the first linear electric motor 5 and runs solidly together with the first arm 2 along the straight direction X.
  • a fourth linear electric motor 13 is active directly on the second arm 12, to promote axial translation along the axis 12c of the second arm 12.
  • the first arm 2 and the second arm 12 are slidingly mobile along the same direction Z, alternatingly or in a same direction according to the movements requested.
  • the arms 2 and 12 exhibit means for supporting and moving 15 the tool 3.
  • the means for supporting and moving 15 the tool comprise hinged kinematics, such as for example a first 16 and a second 17 con rod, which define, with the first end 2a, 12a of each arm 2, 12, a four-bar link, in order to enable the tool 3 to move on an arc of circumference having a range of between 110° and 140°.
  • the range of the arc of circumference swept by the tool 3 depends on design choices, and in particular on the distance between the two arms 2, 12 and the length of the con rods 16, 17.
  • the movement of the tool 3 about the rotation axis 3a thereof is powered by a traditional electric motor 14, associated to the tool 3 itself.
  • the invention offers important advantages since it provides a structure having contained dimensions, which is able to manage work volumes which are characteristics of anthropomorphic structures, with the high dynamics and precision typical of parallel kinematics machines. This is obtained by means of a non-conventional kinematic structure specially designed to be able to exploit direction-motion innovative actuators, which do not require the interposing of supplementary mechanical organs. Linear electric motors directly command the element to which they are applied, avoiding the presence of kinematic connections which make the structure heavy, increase the amount of moving parts and slow down the working speed and the overall dynamics of the machine.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

Cette invention concerne un dispositif permettant d'assurer et/ou d'exécuter des tâches sur des objets, lequel dispositif comprend: au moins un premier bras (2) présentant une première extrémité (2a) afin de maintenir un outil (3) pour le ramassage ou l'exécution d'une tâche; un moyen (4) permettant de maintenir et de déplacer le premier bras (2); un premier moteur électrique linéaire (5) connecté au premier bras (2) pour favoriser une translation du premier bras (2) le long d'une trajectoire droite (X), de préférence horizontale, et un second moteur électrique linéaire (6) associé au premier moteur électrique linéaire (5), qui se déplace le long d'un circuit fermé (P) et qui fixe la rotation du premier bras (2) autour d'au moins une trajectoire circulaire (9).
PCT/IT2007/000821 2007-11-26 2007-11-26 Dispositif permettant d'assurer et/ou d'exécuter des tâches sur des objets WO2009069154A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/IT2007/000821 WO2009069154A1 (fr) 2007-11-26 2007-11-26 Dispositif permettant d'assurer et/ou d'exécuter des tâches sur des objets

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IT2007/000821 WO2009069154A1 (fr) 2007-11-26 2007-11-26 Dispositif permettant d'assurer et/ou d'exécuter des tâches sur des objets

Publications (1)

Publication Number Publication Date
WO2009069154A1 true WO2009069154A1 (fr) 2009-06-04

Family

ID=39472715

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IT2007/000821 WO2009069154A1 (fr) 2007-11-26 2007-11-26 Dispositif permettant d'assurer et/ou d'exécuter des tâches sur des objets

Country Status (1)

Country Link
WO (1) WO2009069154A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104827461A (zh) * 2015-04-27 2015-08-12 汕头大学 一种新型串并混联机器人
EP2957394A1 (fr) * 2013-02-12 2015-12-23 Hitachi, Ltd. Manipulateur actionné à distance
DE102015009362A1 (de) * 2015-07-24 2017-01-26 Depo Gmbh & Co. Kg Andock-Maschine
CN109328124A (zh) * 2016-04-21 2019-02-12 休恩登·杰拉德·托马斯 执行操作的机器人系统
CN111039008A (zh) * 2020-01-07 2020-04-21 广州基俊机械科技有限公司 一种可用于弧形运输的机械手
CN111634681A (zh) * 2020-06-09 2020-09-08 吉林大学 一种吸附装卸装置

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3771666A (en) * 1972-06-30 1973-11-13 Harnischfeger Corp Load grab mechanism having separable rotatable grab arms
EP0320436A2 (fr) * 1987-12-05 1989-06-14 Noell GmbH Méthode et dispositif pour reconnaître et approcher une référence dans l'espace
US5369676A (en) * 1993-08-19 1994-11-29 General Electric Company Reactor refueling mechanism
DE4413625A1 (de) * 1994-04-19 1996-04-18 Hermann Heuss Gmbh & Co Kg Ing Vorrichtung zum Transportieren
US5873214A (en) * 1996-11-15 1999-02-23 Lantech, Inc. Method and apparatus for load building and stretch wrapping
FR2800659A1 (fr) * 1999-11-05 2001-05-11 Process Conception Ing Sa Dispositif de deplacement d'un objet sensiblement parallelement a un plan
EP1419851A1 (fr) * 2002-11-13 2004-05-19 DECKEL MAHO Pfronten GmbH Machine-outil avec broche montée sur une unité tripode
WO2006036669A1 (fr) * 2004-09-22 2006-04-06 Kulicke And Soffa Industries, Inc. Dispositif de commande de mouvement pour tete de soudage de machine de liaison de fils
WO2007131686A1 (fr) * 2006-05-11 2007-11-22 Eew Maschinenbau Gmbh Structure porteuse pour un appareil d'usinage

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3771666A (en) * 1972-06-30 1973-11-13 Harnischfeger Corp Load grab mechanism having separable rotatable grab arms
EP0320436A2 (fr) * 1987-12-05 1989-06-14 Noell GmbH Méthode et dispositif pour reconnaître et approcher une référence dans l'espace
US5369676A (en) * 1993-08-19 1994-11-29 General Electric Company Reactor refueling mechanism
DE4413625A1 (de) * 1994-04-19 1996-04-18 Hermann Heuss Gmbh & Co Kg Ing Vorrichtung zum Transportieren
US5873214A (en) * 1996-11-15 1999-02-23 Lantech, Inc. Method and apparatus for load building and stretch wrapping
FR2800659A1 (fr) * 1999-11-05 2001-05-11 Process Conception Ing Sa Dispositif de deplacement d'un objet sensiblement parallelement a un plan
EP1419851A1 (fr) * 2002-11-13 2004-05-19 DECKEL MAHO Pfronten GmbH Machine-outil avec broche montée sur une unité tripode
WO2006036669A1 (fr) * 2004-09-22 2006-04-06 Kulicke And Soffa Industries, Inc. Dispositif de commande de mouvement pour tete de soudage de machine de liaison de fils
WO2007131686A1 (fr) * 2006-05-11 2007-11-22 Eew Maschinenbau Gmbh Structure porteuse pour un appareil d'usinage

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2957394A1 (fr) * 2013-02-12 2015-12-23 Hitachi, Ltd. Manipulateur actionné à distance
US20150367507A1 (en) * 2013-02-12 2015-12-24 Hitachi, Ltd. Remotely Operated Manipulator
EP2957394A4 (fr) * 2013-02-12 2016-09-21 Hitachi Ltd Manipulateur actionné à distance
US9728282B2 (en) * 2013-02-12 2017-08-08 Hitachi, Ltd. Remotely operated manipulator
CN104827461A (zh) * 2015-04-27 2015-08-12 汕头大学 一种新型串并混联机器人
DE102015009362A1 (de) * 2015-07-24 2017-01-26 Depo Gmbh & Co. Kg Andock-Maschine
CN109328124A (zh) * 2016-04-21 2019-02-12 休恩登·杰拉德·托马斯 执行操作的机器人系统
EP3481600A4 (fr) * 2016-04-21 2020-04-29 Hughen Gerrard Thomas Système robotique pour effectuer une opération
CN111039008A (zh) * 2020-01-07 2020-04-21 广州基俊机械科技有限公司 一种可用于弧形运输的机械手
CN111634681A (zh) * 2020-06-09 2020-09-08 吉林大学 一种吸附装卸装置
CN111634681B (zh) * 2020-06-09 2021-05-04 吉林大学 一种吸附装卸装置

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